Stacking mechanical arm with angle capable of being adjusted at will

Abstract

The utility model discloses a stacking mechanical arm capable of adjusting the angle at will, and relates to the technical field of article stacking, the stacking mechanical arm comprises a base and a rotating disc rotationally connected with the top of the base, the top of the rotating disc is connected with a mounting plate through a driving mechanism, and the bottom of the mounting plate is connected with a supporting plate through a mounting rod; the bottom of the supporting plate is provided with two clamping mechanisms used in cooperation and a moving mechanism driving the two clamping mechanisms to be close to or away from each other. Each clamping mechanism comprises a clamping assembly and a control mechanism arranged on the clamping assembly and used for preventing the two clamping mechanisms from clamping too tightly. In the using process, after the two sets of clamping mechanisms clamp and fix an object, a push rod can press a control button, at the moment, a rotating motor stops working, and the situation that after the clamping mechanisms clamp and fix the object, due to the fact that a worker does not make the rotating motor stop working in time, the clamping mechanisms continue to clamp the object, the clamping force is large, and the working efficiency is high is reduced. And articles are damaged.

Description

Technical Field

[0001] The utility model relates to the technical field of article palletizing, in particular to a palletizing robotic arm with an adjustable angle at will. Background Art

[0002] Palletizing refers to neatly stacking articles. A palletizing robotic arm can neatly and automatically stack (or unstack) packaged goods on a pallet (or on a production line, etc.). It is an intelligent device that uses robotic arm technology to achieve automatic product stacking, improving production efficiency and accuracy. In modern industrial production, the robotic arm palletizer has become an indispensable device, widely used in product handling, palletizing, etc., and is widely used in different fields such as automobiles, logistics, household appliances, pharmaceuticals, food and beverages.

[0003] In the case of a robotic arm palletizer of the existing patent CN220077891U, although it can fix an object during use, during the clamping operation, after the article is fixed, if the staff does not stop the motor in time, the clamping plate will continue to perform the clamping operation, which may cause the clamping force to be too large, thereby damaging the article and making it inconvenient for people to use. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a palletizing robotic arm with an adjustable angle at will in view of the above problems existing currently.

[0005] The technical solution of the utility model is as follows:

[0006] A palletizing robotic arm with an adjustable angle at will includes a base and a rotating disk rotatably connected to the top of the base. The top of the rotating disk is connected with a mounting plate through a driving mechanism. The bottom of the mounting plate is connected with a support plate through a mounting rod. Two groups of clamping mechanisms used in cooperation and a moving mechanism for driving the two groups of clamping mechanisms to approach or separate from each other are arranged at the bottom of the support plate. The clamping mechanism includes a clamping component and a control mechanism arranged on the clamping component for preventing the two groups of clamping mechanisms from clamping too tightly.

[0007] Further, the clamping component includes a fixing plate. A moving cavity is formed in the fixing plate. A clamping plate is slidably connected in the moving cavity. A supporting plate is arranged on the inner side of the clamping plate. The fixing plate is also provided with a fixing component for fixing the clamping plate.

[0008] Further, the control mechanism includes a sleeve disposed outside the clamping plate. A push rod having a T-shaped structure is disposed inside the sleeve. One end of the push rod passes through the sleeve and extends to the other side of the clamping plate. A spring is sleeved outside the push rod, and both ends of the spring are fixedly connected to the T-shaped end of the push rod and the inner wall of the sleeve respectively. A control button triggered by the push rod is disposed at another inner wall of the sleeve, and the control button is electrically connected to a driving device of the moving mechanism.

[0009] Further, the moving mechanism includes a strip-shaped opening formed at the bottom of the support plate. A bidirectional threaded rod is rotatably disposed inside the strip-shaped opening. A threaded sleeve is threadedly connected to the outside of the bidirectional threaded rod. Clamping assemblies are respectively fixedly connected to the bottoms of the two threaded sleeves. A rotary motor for driving the bidirectional threaded rod to rotate is further disposed on one side of the support plate.

[0010] Further, the fixing component is a bolt. A second mounting hole is formed on one side of the fixing plate. At least two first mounting holes cooperating with the second mounting hole are formed on the clamping plate. The first mounting hole and the second mounting hole are fixed by cooperation of the bolt.

[0011] Further, the driving mechanism includes a bracket and a first air cylinder mounted on the top of the rotating disk. A lifting plate is sleeved outside the bracket. The output end of the first air cylinder is fixedly connected to the bottom of the lifting plate. The other end of the first air cylinder is fixedly connected to the rotating disk. Two second air cylinders are disposed on the same side of the lifting plate. The output ends of the second air cylinders are fixedly connected to one side of the mounting plate.

[0012] Further, an installation cavity is formed inside the base, and a driving motor for driving the rotating disk to rotate is installed inside the installation cavity.

[0013] Further, the control button is electrically connected to the rotary motor.

[0014] Further, the bottoms of the two threaded sleeves are respectively fixedly connected to the tops of the two fixing plates.

[0015] Further, the supporting plate and the sleeve are respectively disposed on two sides of the clamping plate.

[0016] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0017] For a palletizing robotic arm capable of arbitrarily adjusting the angle, during the use process, when the two clamping mechanisms clamp and fix an article, the push rod will press the control button. At this time, the rotary motor will stop working, reducing the problem that after the clamping mechanism clamps and fixes the article, due to the fact that the staff does not timely stop the rotary motor, the clamping mechanism continues to clamp, resulting in a relatively large clamping force and damaging the article. Description of the Drawings

[0018] Figure 1It is a first three-dimensional structural schematic diagram of a palletizing robot arm with an adjustable angle at will.

[0019] Figure 2 It is a sectional structural schematic diagram of a palletizing robot arm with an adjustable angle at will.

[0020] Figure 3 It is Figure 2 an enlarged structural schematic diagram of part A in

[0021] Figure 4 It is a second three-dimensional structural schematic diagram of a palletizing robot arm with an adjustable angle at will.

[0022] Figure 5 It is Figure 4 an enlarged structural schematic diagram of part B in

[0023] Reference numerals: 1 - base, 2 - rotating disk, 3 - first pneumatic cylinder, 4 - bracket, 5 - lifting plate, 6 - second pneumatic cylinder, 7 - mounting plate, 8 - mounting rod, 9 - support plate, 10 - fixing plate, 11 - sleeve, 12 - driving motor, 13 - pallet, 14 - clamping plate, 15 - push rod, 16 - spring, 17 - control button, 18 - first mounting hole, 19 - second mounting hole, 20 - threaded sleeve, 21 - double - thread, 22 - rotating motor. Detailed implementation manners

[0024] It should be noted that relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non - exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.

[0025] The features and performance of the present utility model will be further described in detail below in conjunction with embodiments.

[0026] Please refer to Figures 1-5 , a palletizing robot arm with an adjustable angle at will, as Figure 2As shown, it includes a base 1 and a rotating disk 2 rotatably connected to the top of the base 1. An installation cavity is provided inside the base 1, and a driving motor 12 for driving the rotation of the rotating disk 2 is installed inside the installation cavity; when it is necessary to adjust the angles of the two clamping mechanisms, start the driving motor 12, and the driving motor 12 will drive the rotating disk 2 to rotate. At this time, the angles of the two clamping mechanisms can be adjusted.

[0027] As Figure 1 and Figure 2 shown, an installation plate 7 is installed on the top of the rotating disk 2 through a driving mechanism. The driving mechanism includes a bracket 4 and a first pneumatic cylinder 3 installed on the top of the rotating disk 2, a lifting plate 5 sleeved outside the bracket 4, and two second pneumatic cylinders 6 installed on one side of the lifting plate 5. The output end of the second pneumatic cylinder 6 is fixedly connected to one side of the installation plate 7, and the output end of the first pneumatic cylinder 3 is fixedly connected to the bottom of the lifting plate 5; when in use, when the first pneumatic cylinder 3 moves up and down, it will drive the lifting plate 5 to move up and down, so that the installation plate 7 and the support plate 9 will move up and down, and then the height of the two clamping mechanisms can be adjusted. When the second pneumatic cylinder 6 performs an extension or contraction movement, it will drive the installation plate 7 and the support plate 9 to move left and right, so that the distance between the two clamping mechanisms and the base 1 can be adjusted;

[0028] As Figure 2 and Figure 3 shown, two sets of clamping mechanisms used in cooperation are installed at the bottom of the support plate 9. The clamping mechanism includes a clamping component. The clamping component includes a fixing plate 10, a moving cavity opened in the fixing plate 10, a clamping plate 14 slidably connected in the moving cavity, a supporting plate 13 installed on one side of the clamping plate 14, and a fixing component provided on the fixing plate 10 for fixing the clamping plate 14. The fixing component includes a bolt, a second installation hole 19 opened on one side of the fixing plate 10, and a plurality of first installation holes 18 opened on the clamping plate 14 and cooperating with the second installation hole 19. The first installation hole 18 and the second installation hole 19 are both used in cooperation with the bolt; when it is necessary to expand the space between the supporting plate 13 and the support plate 9, the bolt screwed into the second installation hole 19 and one of the first installation holes 18 can be unscrewed, and then the clamping plate 14 can be pulled down to adjust the distance between the clamping plate 14 and the support plate 9. After the adjustment is completed, another first installation hole 18 can be made to correspond to the second installation hole 19, and then the bolt can be screwed back in to fix the clamping plate 14 on the fixing plate 10, so as to meet the requirements for using items of different heights. At the same time, the provided supporting plate 13 can lift the bottom of the item to ensure that the item is not easily dropped during the clamping process, improving the safety of the robotic arm during use.

[0029] As Figure 4 and Figure 5As shown, a support plate 9 is installed at the bottom of the mounting plate 7 through a mounting rod 8. A moving mechanism for driving two clamping mechanisms to approach or separate from each other is installed at the bottom of the support plate 9. The moving mechanism includes a strip-shaped opening formed at the bottom of the support plate 9, a bidirectional threaded rod 21 rotatably connected inside the strip-shaped opening, and two threaded sleeves 20 threadedly connected to the outside of the bidirectional threaded rod 21. The bottoms of the two threaded sleeves 20 are respectively fixedly connected to the tops of two fixing plates 10. A rotary motor 22 for driving the bidirectional threaded rod 21 to rotate is installed on one side of the support plate 9. By providing the moving mechanism, the distance between the two clamping mechanisms can be adjusted, so as to meet the requirements for fixing articles of different widths.

[0030] As Figure 2 and Figure 3 As shown, a control mechanism for preventing the two clamping mechanisms from clamping too tightly is provided on the clamping assembly. The control mechanism includes a sleeve 11 installed on one side of the clamping plate 14, a push rod 15 sleeved inside the sleeve 11 and having a T-shaped structure, a spring 16 sleeved on the outside of the push rod 15, and a control button 17 installed on the inner wall of the sleeve 11 and corresponding to the push rod 15. The control button 17 is electrically connected to the rotary motor 22. The two ends of the spring 16 are respectively fixedly connected to one side of the push rod 15 and the inner wall of the sleeve 11. One end of the push rod 15 passes through the sleeve 11 and extends to the other side of the clamping plate 14.

[0031] It should be noted that for this kind of palletizing robotic arm that can be adjusted at will, when an article needs to be clamped, the rotary motor 22 will drive the bidirectional threaded rod 21 to rotate. At this time, the two threaded sleeves 20 will move towards the approaching side, and then the two fixing plates 10 will move towards the approaching side, thereby driving the two clamping plates 14 to move towards the approaching side. When the push rod 15 contacts the article, under the action of force, the push rod 15 will slide inside the sleeve 11. At this time, the spring 16 will undergo elastic deformation. After the two clamping mechanisms clamp and fix the article, the push rod 15 will press the control button 17. At this time, the rotary motor will stop working, reducing the problem that after the clamping mechanism clamps and fixes the article, due to the staff not timely stopping the rotary motor, the clamping mechanism continues to clamp, resulting in a large clamping force and damaging the article.

[0032] The above embodiments only represent the specific implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation to the protection scope of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the technical solution of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application.

Claims

1. A palletizing robot arm with adjustable angle, characterized in that: The invention comprises a base (1) and a rotating disk (2) rotatably connected to the top of the base (1); the top of the rotating disk (2) is connected to a mounting plate (7) via a driving mechanism; the bottom of the mounting plate (7) is connected to a support plate (9) via a mounting rod (8); the bottom of the support plate (9) is provided with two sets of clamping mechanisms for use in conjunction with each other and a moving mechanism for driving the two sets of clamping mechanisms to move closer to or away from each other; the clamping mechanism comprises a clamping assembly and a control mechanism arranged on the clamping assembly for preventing the two sets of clamping mechanisms from clamping too tightly.

2. The palletizing robot arm with adjustable angle according to claim 1, characterized in that: The clamping assembly comprises a fixed plate (10), a movable cavity is provided in the fixed plate (10), a clamping plate (14) is slidably connected in the movable cavity, a support plate (13) is provided on the inner side of the clamping plate (14), and a fixing assembly for fixing the clamping plate (14) is also provided on the fixed plate (10).

3. The palletizing robot arm with adjustable angle according to claim 2, characterized in that: The control mechanism comprises a sleeve (11) arranged on the outside of a clamping plate (14), a push rod (15) in a T-shaped structure is arranged in the sleeve (11), one end of the push rod (15) passes through the sleeve (11) and extends to the other side of the clamping plate (14); a spring (16) is sleeved on the outside of the push rod (15), and two ends of the spring (16) are respectively fixedly connected to the T-shaped end of the push rod (15) and the inner wall of the sleeve (11); a control button (17) that can be triggered by the push rod (15) is arranged on the other inner wall of the sleeve, and the control button (17) is electrically connected to the driving device of the moving mechanism.

4. A palletizing robot arm capable of adjusting angles at will according to claim 1, 2 or 3, characterized in that: The moving mechanism comprises a strip-shaped opening formed at the bottom of the support plate (9), a bidirectional threaded rod (21) being rotatably arranged inside the strip-shaped opening, a threaded sleeve (20) being connected to the outer thread of the bidirectional threaded rod (21), and the bottoms of the two threaded sleeves (20) being respectively fixedly connected to the clamping assembly; a rotating motor (22) for driving the bidirectional threaded rod (21) to rotate is also arranged on one side of the support plate (9).

5. The palletizing robot arm with adjustable angle according to claim 2, characterized in that: The fixing assembly is a bolt, a second mounting hole (19) is provided on one side of the fixing plate (10), at least two first mounting holes (18) for use with the second mounting holes (19) are provided on the clamping plate (14), and the first mounting holes (18) and the second mounting holes (19) are fixed by bolts.

6. The palletizing robot arm with adjustable angle according to claim 1, characterized in that: The driving mechanism comprises a bracket (4) and a first pneumatic cylinder (3) mounted on the top of the rotating disk (2); a lifting plate (5) is sleeved on the outside of the bracket (4); an output end of the first pneumatic cylinder (3) is fixedly connected to the bottom of the lifting plate (5); and the other end of the first pneumatic cylinder (3) is fixedly connected to the rotating disk (2); two second pneumatic cylinders (6) are arranged on the same side of the lifting plate (5); and the output end of the second pneumatic cylinder (6) is fixedly connected to one side of the mounting plate (7).

7. The palletizing robot arm with adjustable angle according to claim 1, characterized in that: An installation cavity is provided inside the base (1), and a driving motor (12) for driving the rotating disk (2) to rotate is installed inside the installation cavity.

8. The palletizing robot arm capable of adjusting the angle at will according to claim 3, characterized in that: The control button (17) is electrically connected to the rotating motor (22).

9. The palletizing robot arm capable of adjusting the angle at will according to claim 4, characterized in that: The bottoms of the two threaded sleeves (20) are respectively fixedly connected to the tops of the two fixing plates (10).

10. The palletizing robot arm capable of adjusting the angle at will according to claim 3, characterized in that: The support plate (13) and the sleeve (11) are respectively arranged on two sides of the clamping plate (14).

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